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AntennaTracker: removed 1D accel cal

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This commit is contained in:
Andrew Tridgell 2015-03-11 10:17:22 +11:00
parent 5175f21225
commit bd4476cb84
2 changed files with 11 additions and 18 deletions
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16
AntennaTracker/GCS_Mavlink.pde
View File

@ -519,10 +519,16 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
case MAV_CMD_PREFLIGHT_CALIBRATION: case MAV_CMD_PREFLIGHT_CALIBRATION:
{ {
if (packet.param1 == 1 || if (packet.param1 == 1) {
packet.param2 == 1) { ins.init_gyro();
calibrate_ins(); if (ins.gyro_calibrated_ok_all()) {
} else if (packet.param3 == 1) { ahrs.reset_gyro_drift();
result = MAV_RESULT_ACCEPTED;
} else {
result = MAV_RESULT_FAILED;
}
}
if (packet.param3 == 1) {
init_barometer(); init_barometer();
// zero the altitude difference on next baro update // zero the altitude difference on next baro update
nav_status.need_altitude_calibration = true; nav_status.need_altitude_calibration = true;
@ -531,7 +537,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
// Cant trim radio // Cant trim radio
} }
#if !defined( __AVR_ATmega1280__ ) #if !defined( __AVR_ATmega1280__ )
if (packet.param5 == 1) { else if (packet.param5 == 1) {
float trim_roll, trim_pitch; float trim_roll, trim_pitch;
AP_InertialSensor_UserInteract_MAVLink interact(this); AP_InertialSensor_UserInteract_MAVLink interact(this);
if(ins.calibrate_accel(&interact, trim_roll, trim_pitch)) { if(ins.calibrate_accel(&interact, trim_roll, trim_pitch)) {

13
AntennaTracker/system.pde
View File

@ -99,19 +99,6 @@ static void init_tracker()
nav_status.need_altitude_calibration = true; nav_status.need_altitude_calibration = true;
} }
// Level the tracker by calibrating the INS
// Requires that the tracker be physically 'level' and horizontal
static void calibrate_ins()
{
gcs_send_text_P(SEVERITY_MEDIUM, PSTR("Beginning INS calibration; do not move tracker"));
ahrs.init();
ins.init(AP_InertialSensor::COLD_START, ins_sample_rate);
ins.init_accel();
ahrs.set_trim(Vector3f(0, 0, 0));
ahrs.reset();
init_barometer();
}
// updates the status of the notify objects // updates the status of the notify objects
// should be called at 50hz // should be called at 50hz
static void update_notify() static void update_notify()